Camera Theory

Chris Wood
Overview
•What is an Image?
•Camera sensors
•Quantum Efficiency
•What is bit depth?
•Noise and Signal to Noise
•What is resolution?
•What are you resolving?
•Camera control parameters
What is an Image?
•Since computers store data and understand data in a numerical form, we
can say that an image is a numerical representation of a “picture” – a set
of numbers interpreted by the computer which creates a visual
representation that is understood by humans
•The images we will be dealing with are generated from what
instruments termed
• CCD (Charge Coupled Device)
• CMOS (Complementary Metal Oxide Sensor)
• Laser Scanning Confocal microscopes.
•A charged coupled device is made from a modified piece of silicon
which has an array of wells of a known size, which we refer to as pixels.
What is an image?
This..........
Is really this
Think like the computer – The Bitmap
•The Bitmap is the information the
computer uses to form the image, each pixel
can be seen in its XY position and with its
corresponding greyscale value.
• Remember the image is these values
interpreted by your eyes
The Histogram
•The Histogram is a graphical
representation of the distribution of
greyscales within an image
•This acts as a description of the image and
we can clearly see the dark spots and the
grey background
•We can use this information to make
measurements based on greyscale
The Line Profile
•The Line Profile is a great exploratory tool
for looking at discrete regions within an
image
•When we select the tool, a line appears on the
image which we can move and grow
•This gives us the greyscale information along
the line
•By selecting to view either a thick vertical or
thick horizontal line we can see how flat our
image is and so see whether we need to
account for this before we do any processing
Bit Depth
•Depending on the camera used, each pixel can carry from 1 to 32-bits.
•For a normal 8-bit monochrome camera each pixel has a possible 256
grey scale values.
•Black = 0
•White = 255
•For a 12-bit monochrome camera each pixel has a possible 4096 grey
scale values
•Black = 0
•White = 4095
Bit Depth and Grey Scale
•The Human eye can accurately detect
around 40-60 grey levels
•8-Bit cameras detect 256 grey levels;
each grey level captured will be
accurately repeated by the monitor
display
•12-bit cameras generate 12-bit images;
these contain 4096 grey levels
•The 12-bit scale gives far greater ability
to capture the Dynamic range. This
allows you to extract your data from a
larger range
8-bit versus 12-bit
•Of the two images shown opposite,
the top one was taken with a regular
8-bit video camera and the bottom
one with a 12-bit Scientific Grade
CCD camera
•When the greyscales are matched
for the monitor we can see very little
difference between them
8-bit versus 12-bit
•On closer investigation of the
darker regions - by effectively
zooming into the brightness - we
can see that the 12-bit image holds
far more information
•We can achieve this by altering
the Display Range (section 2)
•Capturing a greater range of
greyscales gives higher intensity
Auto Scaling
•As we live in an 8-bit world with
12, 14 and 16-bit image files we
often have to scale images to make
them visible
•Example: low light but 100
electrons of signal will give me
reasonable data using a 14-bit
camera.
•With 14-bits my camera assigns
1e/1grey level meaning my image
will have 100 grey levels (+ the
offset) of greyscales which will be
visible in an image with 65535, so
unless we scale the image we will
not see the data
Sensor Types
•CCD – Charge Coupled Devices
•EMCCD – Electron Multiplied CCD
•CMOS - Complimentary Metal Oxide Semiconductor
CCD Fundamentals
The Charge-Coupled Device (CCD)
• Invented in 1970 at Bell Labs
• A silicon chip that converts an image to an electrical signal
• Image is focused directly onto the silicon chip
• Widely used in TV cameras and consumer camcorders
• Special high-performance CCDs made by:
Eastman Kodak (Rochester, NY)
Thomson CSF (France)
Marconi (formerly EEV — England)
SITe (Beaverton, OR)
Sony
Others
CCD Fundamentals
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CCD Fundamentals
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CCD Fundamentals
Full Frame
Frame Transfer
(EMCCD)
Interline Transfer
Sensitivity
• Sensitivity is a horrible word which is often confused with Quantum Efficiency,
Pixel Size, Signal and Signal to Noise.
We do know some key facts:
• Photons convert to electrons in sensors and they can then be measured – this
conversion rate is defined as Quantum Efficiency
• Sensors convert photons of some wavelengths better than others
• The number of photons that interact with our pixel will depend on the physical
size of the pixel
• We can have a sensitive sensor but if our signal to noise is low we get a noisy
image with data we cannot decipher
What is Quantum Efficiency?
• Quantum efficiency (QE) is a measure of the effectiveness
of an imager to produce electronic charge from incident
photons.
• In the high-purity crystalline form, each atom of silicon is
covalently bonded to its neighbour. Energy greater than the
band gap energy, about 1.1 eV, is required to break a bond
and create an electron/hole pair.
• The wavelength of incoming light and photon absorption
depth are directly related; the shorter the wavelength, the
shorter the penetration depth into the silicon.
• Light normally enters the CCD through gates of the parallel
register (front-illuminated CCD). These gates are made of
very thin polysilicon, which is reasonably transparent at
long wavelengths, but becomes opaque at wavelengths
shorter than 400 nm. Thus, at short wavelengths, gate
structure attenuates incoming light.
QE Curves
• Spectral response curves are often shown on camera specification sheets.
• Some manufacturers claim higher responses than are achievable , but note these often vary from sensor to sensor
• Some manufacturers will also quote a relative response from 0 to 1
• The battle for good QE is fought in the flatness, max peak and responses to red dyes such as Cy5 (670nm)
• A QICAM is not suitable at this part of the spectrum as QE is only 5% at 670nm
Front and Back illumination
•Some cameras are back
thinned and back
illuminated to be as
efficient as possible with
incoming light
•Typical front illuminated
QE 40-60% at Lambda
Max
•Typical Back illuminated
QE 90% at Lambda Max
What is actually happening at each
Pixel?
System Gain
e-/grey
Quantum
Efficiency
What’s happening
1. Photon hits the CCD sensor
2. Photon is then converted to an Electron
3. Electron is then digitised using an Analogue to Digital converter
(ADC)
4. Electron value is now converted to a grey scale
5. User measures grey scale (ADU)
Note - The camera is completely in control over grey scale values and
changing camera parameters doesn’t change the light detected.
Reconstructing the Image
•The image is generated by the
reconstruction of the well
information (now digitized into
grayscale values) into the image
pixels.
•Pixels are identified by their
position in a grid (twodimensional array), referenced
by its row (x), and column (y).
Noise Overview
•Living with Noise
•What is Noise
•Noise sources
•Signal to Noise equations
•Telling signals apart
Living with Noise
Noise exists on every camera and in every measurement
Dependent on the image scale used you may or may not see it.
Why do we see noise ?
•We normally see noise when the signal we have is low in comparison to
our required exposure
Reasons for trying to get a short exposure:
•Need to monitor at high speed
•Need to minimise sample damage
•Need to focus at live rate
Measurement Uncertainty
•If you measure a signal of 100 electrons in one pixel and 102 in another,
are they different values?
•Noise distorts measurements and increases the uncertainty in
measurements.
Image Quality
Although images are purely data you can’t avoid the pretty picture club
Low Gain – Long Exposure – Low
Noise
Higher Gain – Short Exposure – More
Visible Noise
Noise Sources
•
CCD systems suffer from 3 types of noise:
1. Dark Current – noise from heat and cosmic noise - exposure
dependent
2. Read Noise – noise of reading the signal - fixed
3. Photon Shot – square root of signal - signal dependent
Read Noise
• Minimized by careful electronic design
• Under low-light/low-signal conditions
where read noise exceeds photon noise,
data is read noise limited
• Read noise is not as significant in highsignal applications
• Read noise = std* system gain* 0.707
(std of subtracted bias images)
Reading all the buckets - what’s
my Error?
Dark Current
•Dark Current is created by heat and cosmic noise and can be reduced by
cooling
•Dark Current builds over time unlike read noise
•Dark current reduction is sensor dependent
•For example, some sensors will halve dark current for every 7 degrees
of cooling; some require more cooling
•Other technologies can be applied which reduce the cooling required
Retiga SRV (cooled to -30) Dark Current 0.15 e/p/s
Exi Blue (cooled to zero) Dark Current 0.005 e/p/s
Photon Shot Noise
•Law of physics
•Square root relationship between signal and noise
•Noise = square root of number of electrons
•Poisson distribution
•When photon noise exceeds system noise, data is photon (shot) noise
limited
Signal to Noise
•Standard CCD SNR Equation:
•SNR = [S*QE]÷ √[S*QE2 + D + σR2]
•S = Signal in Photons (converted to electrons by * QE)
•QE = Quantum Efficiency of light at that emission
•D = Dark Current Noise = Dark Current * Exposure Squared
•σR = Read Noise
•All values must be compared in electrons
Signal to Noise Calculators
• Many Signal to Noise calculators exist but a quick
and easy one to use is at www.photomet.com Select scientific imaging tools
• Simply enter your gain, signal, read noise, dark
current and exposure time
• A good experiment is to see how varying dark
from 2 to 0.001 effects a 100ms exposure
Measurement Confidence
• If we have 2 pixels next to each other one has a value of 30 and the other 20,
we will assume noise is 5 electrons
40
• Q, Can we tell them apart?
30
35
25
• A, No – the error bars overlap and so
we have no confidence in the
measurement
20
Signal
15
• The signal change that can be detected
with confidence is calculated using a
confidence level calculation
10
5
0
Pixel 1
Pixel 2
Confidence Level Equations
(Inverse of SNR)*2*100 = % of intensity fluctuation that can be detected
with a 95% confidence level
•The rule is based on applying 2 standard deviations to give you 95%
•20:1 signal to noise will detect a 5% intensity change with 95%
confidence
•10:1 = 20%
•5:1 = 40%
SNR Calculators – Why are they useful?
•Accuracy of measurements – confidence intervals
•Sample Preservation - If you could reduce your exposure time and
achieve the same/similar signal to noise to save your sample, you would
•Speed Increases – If you could reduce your exposure time and achieve
the same/similar signal to noise to achieve higher speeds, you would
Perceptions
“I need a High Resolution
Digital Camera - what
Megapixel cameras do you
have?”
high-resolution 3.34 million pixel
images
DP70, a 12.5 megapixel cooled
digital color camera
Resolution: The Rules
1.
Resolution is ultimately dependent on the N.A. of the objective or lens
used
2.
Microscope resolution in your camera is dependent solely on the size of
the pixel – not the number of pixels
3.
Number of Pixels can affect resolution in non-microscope applications
4.
Dynamic range plays a significant role in resolution
5.
How big a field of view you see is determined by size of the chip
1.
Colour cameras that use a Bayer Mask are lower resolution than the
monochrome equivalent by a factor of 3
2.
DPI is only an output resolution. This number represents the resolution
of a printed image
Resolution is ultimately dependent
on the N.A. of the objective.
Optical Resolution
1.22 * Wavelength (μm)
d(μm) =
NAobj + NACond*
* Fluorescence use (2*NAobj )
Fluorescent App: FITC Emission
Example 1: Plan Apo 60x oil (NA 1.4)
1.22 * .510
= 0.22 μm
d(μm) =
1.4 + 1.4
Example 2: Plan Fluor 10x dry (NA 0.3)
1.22 * .510
= 1.037 μm
d(μm) =
0.3 + 0.3
We know what our optics can
resolve - can our detector pick it up?
Remember: Resolution in your camera is dependent solely
on the size of the pixel
Our resolving tools
•CCD Chips:
– Sony ICX282AQ - 3.4 μm pixels, 9.74 mm x 7.9 mm imaging
– Sony ICX-205AL – 4.5 μm pixels, 6.5 x 4.8 mm imaging area
– Sony ICX-285 - 6.45 μm pixels, 8.77 x 6.6 mm imaging area
– Kodak KA4021 - 7.9μm pixels, 16.67mm x 16.05mm imaging area
– CCD97 16 μm – E2V EMCCD sensor
Magnification Factor
•How big is our pixel in the Object space?
Calibrated pixel size = Pixel size / Total Magnification
Easy Maths: 60x objective, Sony 285 senor
Calibrated pixel size = 6.45 μm / 60x = 0.1075 μm/ pixel
We know our smallest object size in
our image plane (the specimen), we
know the pixel size of our CCD…
What next?
Sampling Requirements
Two objects
1x Sampling
2x Sampling
CCD Chip
Resulting Image
Does our Camera match the Resolving power
of our 60x 1.4 NA objective?
Rayleigh Criterion: Plan Apo 60x oil (NA 1.4) = 0.22 μm
Nyquist: requires a sampling interval equal to twice the highest
specimen spatial frequency
Pixel size in Object Space = 6.45 μm / 60x = 0.1075 μm/ pixel
Quick Calculation
Pixel Size/Objective Power x 2.3 = Resolution
At 10x what size pixel do we need to
resolve?
1. Optical Resolution:
Example 2: Plan Fluor 10x dry (NA 0.3)
1.22 * .510
d(um) =
= 1.037 um
0.3 + 0.3
2. Size of the object on the face of the CCD
Object size = 1.037 * 10 = 10.037 um
3. Nyquist Sampling frequency:
10.037 / 2.3 = 4.36 um = Pixel size to Resolve object
Recap
•Lens resolution = (1.22*wavelength)/2NA
•Camera resolution = Pixel Size/Objective *2.3
•Appropriate Pixel size = (resolution (um) * total magnification)/2.3
Camera Field of View – 1x C -mount
Gain is not Evil
•Gain is a camera control – it’s
not evil and if used correctly can
aid imaging, achieving lower
exposure times
•This allows users to see signal
in real time or minimise
exposure
•Gain does kill dynamic range so
it is not exactly angelic
Gain
•Gain is a way of amplifying signal relative to the image scale allowing users
to lower the exposure time to achieve the same grey scale values
•Gain really can be thought of as electrons per ADU
•ADU = grey scale value
•Gain is thought to increase noise - this is not necessarily true as noise does
not really change, but the grey scales which represent it do increase
Increasing gain effectively lowers dynamic range
What is actually happening at each
Pixel?
System Gain
e-/grey
Quantum
Efficiency
• System Gain = Single Pixel Full Well (e-) / Bit Depth (ADU)
Single Pixel Full Well = 16,000 eSystem Gain = 16,000e- / 4,095ADU
A/D Converter Bit Depth = 4,095
1x Gain = 4e- /ADU
using 12 bit A/D
What would it be for
a 14 bit camera?
Full Well = 16,000 e-
4 electrons = 1 ADU
A/D Converter Bit Depth = 4,095
1x Gain = 4e- /ADU
Full Well = 16,000 eThis 4e-:1ADU ratio continues until both
the CCD Full Well and the A/D converter
are filled completely and at the same time.
A/D Converter Bit Depth = 4,095
1x Gain = 4e- /ADU
Full Well = 16,000 e-
When the CCD and A/D are full, the system
has reached Full Well and the A/D limit.
A/D Converter Bit Depth = 4,095
1x Gain = 4e- /ADU
4x User Gain
4x gain effectively lowers the full well of the CCD
by 1/4. In this example, the CCD’s effective full well
is now 4,000 electrons.
4x single pixel Full Well = 1x single pixel Full Well /4
= 16,000- /4
= 4,000e-
A/D Converter Bit Depth = 4,095
4x Gain = 1e-/ADU
4x User Gain
Full Well = 4,000e-
Now, at 4x gain, 1 electron will produce 1 ADU.
A/D Converter Bit Depth = 4,095
4x full well
4x Gain = 1e-/ADU
4x User Gain
Full Well = 4,000eThis 1e-:1ADU ratio continues until the A/D converter
has reached its limit.
4x full well
A/D Converter Bit Depth = 4,095
4x Gain = 1e-/ADU
Measuring Gain - Mean Variance
• The mean-variance test is an
experimental way to determine the gain
• The premise of this test is rather simple:
if the amount of light (electrons) going
into the camera is linearly increased, is
the response of the camera (ADUs) also
linear?
• With a linear response it becomes
apparent that a constant gain value is
being applied by the camera. If the
response of the camera starts becoming
non-linear, then all the measurements in
the non-linear region cannot be
accurately quantified
Well Depth and Dynamic Range
Well Depth / Full Well Capacity
Usable Dynamic Range
•Well Depth defines the number of
electrons we can hold in the well
•Dynamic Range is quoted as Full
Well/Read Noise
•Well Depth drives image quality
allowing you to capture both bright
and dark images at the same time in
neighbouring pixels
•This gives us the number of
statistically measureable points
•Consider the QICAM 10,000 e and
the Retiga 2000R 40,000 e
•QICAM 10,000/12 = 833
•Exi 16,000/5 = 3200
Usable dynamic range
• Every CCD placed in a camera has what is called a Full-Well Capacity. This fullwell capacity defines the number of electrons that each pixel can detect
• In an ideal world, each electron detected would be translated into the image;
however, in real world applications, we have to deal with the effects of noise
• Read noise is a measurement of the noise generated by the camera electronics while
reading the electron levels in a CCD. In essence, read noise is the minimum number
of electrons that can be detected at any point from the CCD.
• How does this affect the dynamic range?
• Let’s say a CCD has a full-well capacity of 1000 electrons per pixel, and the read
noise is 50 electrons. Since the minimum number of electrons you can detect at any
point is 50, you will only be able to detect 20 discrete levels of signal, resulting in a
dynamic range of 20:1.
Useable Dynamic Range
•CoolSnap HQ2 has 16000
electrons in gain 1x = read
noise is 5 = Dynamic range
3333:1
•CoolSnap HQ2 has 4000
electrons in 4x gain = read
noise is 5 = 800:1
•CoolSnap HQ2 has 32,000
electrons in bin 2x = read
noise = 5 = 6400
Changing gain to match grey scale –
effect on dynamic range
CoolSnap Gain 1 (1e/ADU)
1 second exposure –Mean 2000 grey scales
Signal = 2000 electrons
Noise 45 electrons =45 greyscales
S/N = 2000/45= 44:1
Well Depth 16,000
Dynamic Range 16000:5 = 3333:1
CoolSnap Gain 4x (0.25e/ADU)
250ms exposure – Mean 2000 grey scales
Signal =500 electrons
Noise = 23 electrons = 92 greyscales
S/N = 500/22= 25:1
Well Depth 4,000
Dynamic Range 4000:5 = 800:1
What gain should I use?
•Gain 1x – This should be designed by the engineer to give you the
highest number of discernable grey levels = Largest Dynamic Range
•Higher than 1x Gain – this can be used to achieve a visible signal
earlier (please note the camera is not more sensitive to light at this
point)
•Lower than 1x Gain – this should be used when the camera is set to
binning mode to enable high dynamic range
Using lower than 1x
•Pre digitisation the electronic charge
is held in the output node
•When binning, the output node must
now accommodate more charge
than the linear full well of a sensor
•In such occasions the AD, which
was set previously to match the full
well, is no longer maximising
dynamic range
•By lowering the gain we maximise
our sensor for dynamic range in a
binned state
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Binning
- Higher Dynamic Range
- Higher Signal-to-Noise Ratio
- Faster Readout
- Dynamically Change Pixel Size/Aspect Ratio
Above all gained at the expense of Spatial Resolution!!
CCD Fundamentals
Binning
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Thanks for listening